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a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/data/episode9.hdf5 b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..02cc669e7965bec04d28e2088330c0d933e45006 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e9dfeecf5f2b8476163ee01c60af82a4eba96daee128561dc9a77edf09b027b +size 17382796 diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/config.yml b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/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/blocks_ranking_rgb/ARX-X5/meta/info.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f467f4c13f9fabddefad27eff27d546c68a5e9 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "blocks_ranking_rgb", + "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/blocks_ranking_rgb/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..51c142325abf0da660b7df8b202236580cf98534 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the right arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the right arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..6015193f6d06f2fd8e55c1abc33384fc5d5cc0f5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..3e9b7c82f5a5b33c1a176e313830806da6bb6aa1 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..ce29b5cd0f8df404adc6a738990106caa18f2a42 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..d8b682b9f1db01ed27544756e3dfb1357f83f165 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..72ac21105d0e283d677afdf9daa4f6c2d4aa7b4f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..092f4dead9606ef1af1667f4477de2e02206d802 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..c7de15c73ec5cd91685ef9a8a948ab39b5266fd7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..146ad6c484370525171b9b2b8f78d78395108b63 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..47ac4411ab765da160a764caf3faac4338a23ff9 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..795e397b86c8d8024cb1f8dd4ef11a1b3d0b7880 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..fa90bbf54773312f4868ec65432db42768ef7c5e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd8f6dbb7fc18494d5d054221cdd907246725f3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb3cd3f4808931ecf1fbf8fd213bec4c537ba5e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..dfae6d85cbdcb8bb51d5bf07350b07672e3469a0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..0e2a495613e6f19fdb58736e67b1a56467b12676 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..e85c8f937bc79f2c3079327b3f927d581c5af37c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..385cab9138492e17700b42161ddc5fc0aa8c48da --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..ecdffd3ae78e65edb0284d4cf3aed17ab58c51a5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..d3b790b88b7d5e8eeadbbcbe55fbd56f3f51d0c7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..34ab42ec1a61282adfa00a5e790048102296f121 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..46daf56037705b1706675c57332982ce936bbac0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..0ad13e7e58d53eaa15aa809444709a7442cfb228 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc14e097f83aa5f70a272500d709765bef4be21 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..82dce2379e6d049462ec2226528b9ab4627b505d --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc1dc0ef7f7cfd2d1cac71a5409e72684a45e8e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..96d30bd33ac804639d9ca85b924e407233af89c5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..3fb52802f695b27d711e76482c3a4313c16bb9b5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..2ec975b8c79e4a090d2a405be7846747614b927a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..d9290bb9534b9a14f09ae95470330ff478999638 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..7b56c02bb9f792269425dc1eba016ee1bb15d0f7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..3f53c29c5908b588379fa533dd62b9b965706885 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..8ddcef3548e8255495bc58f93d98a96deca00615 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..4752bb4e9b62f333228d37220a141ec1580451f6 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..3d13af464c50589f5d6b5ccf9e5238c09422035c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..3862ed18d6daf3e3aa30b4b7d1a8c5514b70c402 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..f37a4c797aefaaa8d031508d3a5749fd824e4931 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..62b41719305ad5a34e75db9cd83d046aaa6b730e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..cdd49fcd944ff048edee8bdb117b50665a744f1c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..40aa07e4bc73632446d3896139e29f0cbcd6d1e0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..af913e826a861775aa88d6fe390f5359e6784afb --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..560112e178deb1ba2ebaa390ce35a2e4af000a52 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..b3eccc0a113dabd5594b505a3615b87e488c28bb --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..9366e43945c1b0f8e918678afb5da257796e4c71 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..9c5d2848933f457579a9392a35a1ff27d0b7b218 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..489b39a51148c2319aaa9c4e8ff8873146dfbda7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..aeda86d1667f8315ad4705cf717c7215328067b7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..b66feb75193e5e3e3e90512ca08f6df3955b3c0e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..f1938b8801025560f3c854e0f3b078576ac1a422 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..109766e1294aa212542e7003feeb6ead10b069e5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..84283cf199337a26c692d148600118b996fb1209 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ARX-X5/meta/scene_info.json @@ -0,0 +1,752 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_12": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_13": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_14": { + 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a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/config.yml b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8c118a89a92436c78ebf9d967c211d09a08e3ef8 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/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/blocks_ranking_rgb/aloha-agilex/meta/info.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..52d42f51e32d03221ae55d80b27d6fe12d133b1a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/info.json @@ -0,0 +1,67 @@ +{ + "task": "blocks_ranking_rgb", + "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/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..c57a01735af7559fd1e00995e9e6aa8c19c47bed --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..dc5ea6fc15a6de8f8b779b000e333defdac2a5a8 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..62ad74f962e60643fd0e0440785ad0a7eb11b344 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..6022a8e0edf4e13890f353f93fab2d3a9c561019 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..47bdcfb4882624a6977efbf21ca190a8ff7ad0ab --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..f58ac9bd8a5473c0c406bdadae273587da9eedb3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..091f911d4f178112a700998e9235e016cf7daaba --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf7e12df4432ef35dc4f5b980c4f316b5f0f744 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..eb24e95405b245ab6c226a1cdce400fb08fb2e8a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..08d5aef2868e96ef6944075dce6182de0b9e1742 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..13b6fd0423a65a84a3fd6c9cf8f109d3152ab57e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c57e0875853936eadc401ab9bf9aa29a01bbfd --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..eff0257c1556b2ad89f6869cdb845ab816a0b20c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..772f0335e26ddea9b4ef9135a76eb59bbb2b768a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..a004b127090833e83e328ed76e77716b1d80710c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..08118eb15aa336b5377e8342eb119e07cfdd13a4 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa8f4987ee0350e0ba5aa43b309603a940ac0da --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..34a544f0a1be8e17157d501a6c554fa198cd72e9 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..8510c4d945848a8d1e3eebc08871fcb96bc47748 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..5a95d63ee2a4fcc62c78014b4b4485ae6fc52c94 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..228e3898cd095b068e0d6c84db1b939f10ca1bde --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..24c35e4fda20cc07ee0be2a1d66d800f22559a04 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..273a749adc4f8d390e484ece0c9fcdaa8cc0a510 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..e8241d87807eaaa7fc40efe88e66be7891e26412 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..e8622ad79e9bafba78fe72265289f37588812106 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..aa8124f34ceddae26e5a21b8836b2b9fefc80d70 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..6f1868b5db1fe44736a16875b9591d7024011a3b --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..6fefb34939c49b12e51a63a05736cfe6083ecb5f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..1239cb37ac1a725e63b01c9d43880e5b5c9a7e0d --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..c2a04e38fc5167ca41f0f2b77590042ac29f2b15 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..24d42c45c17d7f449af6de40bf543286c7d8c512 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..9de7dde9ea2ee992907107c2457b3dc951d21393 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..4fa7b2b55669aae130b5e56c79d201ae16f0f4a7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..dd4ce779cafe6defd3a862669911cc2511979887 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a28af4551ef2319d1c20c99416876be3378679 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..a902d03552481394848a99c38c6cd855c810d6e2 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..ca86fff47db901c62117fe6ebfe5f4f85b7f2d8f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec55443f8fb101ad0e890eb406180f01aac207f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff4db0f040ac33208f07db7357c4a6ee888c6df --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..934809d391e705e9c2bf7cbc218b8b73ca1bf832 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..c690490cf33c20c4e7c0ecde070c20de597a71ef --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..64fe3c93e0672a8fa9b1b089b813249e7d2200eb --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef6b65ae74a626fa0015ba59da4b1144377930e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..1f929b814b1d1ef56fb4989beb352ddf1390c083 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..2f06e322a5b28551235d70f3679c049248213b21 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..9c4e5487573d8a08ea8e237e390aa7c2b53e69a8 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..65b0a3382e29d8f7ed30954c165bb9e8010763e5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..b3660384b8627c5ac05bfa3d4257c2caaacdd141 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..e10b770cf856f5cd4ad277a0f4bf25d8e5f762e3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..8cdd27aba6060032c1317ede6298b072c970154c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..9c85f823af65c3eb32f2a74fbfc75c01244333c6 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/scene_info.json @@ -0,0 +1,804 @@ +{ + "episodes": [ + { + "episode_id": 0, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 1, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + { + "episode_id": 2, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 3, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 4, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 5, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + { + "episode_id": 6, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 7, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 8, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 9, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 10, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 11, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 12, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 13, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 14, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + { + "episode_id": 15, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 16, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + { + "episode_id": 17, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 18, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + { + "episode_id": 19, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + 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"{c}": "right" + } + }, + { + "episode_id": 46, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + { + "episode_id": 47, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 48, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + { + "episode_id": 49, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + } + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/seed.txt b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..2320ff920a43e34396382e93833624557f88f7e3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/meta/seed.txt @@ -0,0 +1 @@ +0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/sim/head_camera/episode0.mp4 b/robotwin_multiembodiments/blocks_ranking_rgb/aloha-agilex/sim/head_camera/episode0.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f68e9a10b9c6effd86c24c202ad7c838328ac7bc --- /dev/null +++ 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sha256:0452c6e0217f0e4be1fbe64f41ae7384d99076e1d1e5d0286b144e7601e1f8a6 +size 14861770 diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/config.yml b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/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/blocks_ranking_rgb/franka-panda/meta/info.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7cf00cb6a35ce41871e6b214cebaa663cca63f9e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/info.json @@ -0,0 +1,64 @@ +{ + "task": "blocks_ranking_rgb", + "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/blocks_ranking_rgb/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0cb9912e2f3188a88250e717603f42a091aed8 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the right arm, and place them in order left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the right arm, and place them in order left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the right arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..270a9cc52ad2c0b47aa4250cd70c01b28809a147 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..e9da39f2aa6d181532aed84b8cda5b0fa2e90fcd --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..d26e0930f8240f0bb7c0fff32907446c4b360d10 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..3bcd725f2c862e1a80b0429b3c1f2cf95fffd75d --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c42159a45ed74393631f43e4f0df5520212b93 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..64fab400633ed88d540931b82ced58ddea319ee3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9b702102bb66d7e83093b1bcad4a0b22ff6a0e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..ebfa8eefe1ab8cb8574587217accf84af08f6804 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..18ad16ac13fd52a647929b8a96f0e6b1f3e51b86 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..4b87f4e6471e67b2956e31f8e49896a10d69d2c0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..dc07bc54fd40c54d2c26d484398da485394359b6 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..015368e51d70eecb9e71a7713f7a858e2f818fef --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..8be12495c91c7fda6b7b35d034ec4065cd0f9004 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..b906f985094335da8479d641d48ddb52da0a50b9 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..6f321e10fa83e78e0dfa30fc3e2116e7ea8b2ec7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..f374dc05be09fa084d31bcfe82eeee1248647c2a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..8787b2799a67c63d77ef95da6d810ad7d329087a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..73bb45322a4e01e7a05958f6f8869efa9a53eb0a --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..9268c6313265f3640af8a109d01200ef5ae67df3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..56559023dd7aebb15120f26543ec7befcc0a66de --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..27319957de3cd1522e57a0af9909109d1e3d8327 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..bc30a63d6ca228ae9a961239973e80d5cae48cd2 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..156f36827c2e00088b7301d6f5bb3896ee57bae0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..0564d3f34f97d75d8152961d3a0dd008388cbc6e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..47a8e177567d65bc35e98ddbf433087ea4e4e814 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..45790da6165ab45857a8971af40ce250e6312b21 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..c72caf3b928fe71f9446dffa5d67c6c34f5b7821 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..e1ad064fb8ac9373f672f9de3a9a03ff0d2e366c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..c59ecd4e19ce341929908f640a519faac1a04dca --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..b28eb5aa97970dd343c8bc4f67c49e63f30c95de --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..7b77b200cc6023e8151c0c424791d0b13c8540e1 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..514ae11112b149caeb8eec805f0b71afdaef6c6e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..c9788f700d149382ce508b8e43ce78908d04d333 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..183fd7cfa75ecab0148dbcb86428ae8802bb5423 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..768c7e2279e97262c091cc1eccf7e66c57843e8f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..2ae0f66bce2ccd9b85d79931c795faf6a400fd4b --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..4c518d876a4756785b81d7ce096949736f0d08cb --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..9fa03fe3adc6527ad9752fb48ce901e73f3c2ed3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..096886bd4efb974c2367fe808403203551818f24 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..dcf4163051ffe799f1130862e0c38b9a4ef252ce --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..05426c1d204ff16086633385493b31b42fa6565b --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..b40dd8e5b730ade4db26a987f57ff77eee119538 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..6d41d9d22dfba475ccc46002bafff4bece9bfcbf --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..23e9cac4ea04b04158bbd16cd66ab50b4c7764b7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..3530df524980d5510ed7bd5b7250303a72ca473f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..a0a4a32705314fbe8edb4a4d86e0279070226aba --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..edf5b78d0a2e4a685483fabeadf21c2f6f6c7f22 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..beeb83f91d34dc0534bae8301fb3b70769874b2e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..0027b42015e854a629609526c2cfecca598f3780 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/scene_info.json b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..67fbfbaa34aeb6ff1ffb1b7fdbbc89eb759a7107 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/franka-panda/meta/scene_info.json @@ -0,0 +1,752 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_12": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_13": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": 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+size 16446812 diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode7.hdf5 b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode7.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..d92c0777fc60e88aac74d897385d0613c18df312 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode7.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:643a5db5d8dc3b4bd4068d42657b39f29fe71426960ff69dd148196f639b6e14 +size 16394878 diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode8.hdf5 b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode8.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..ef5c2c3d056f6a3f750c1efbbd7be3086d876247 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode8.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c47b56750798820238c1ca7ef7d5ea6a799eb96d9f957060156d9f240903bc5 +size 16299712 diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode9.hdf5 b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..29b3a0dfb06f5402c9e2eb51f0f182be20d9924d --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca6c6e1f54d5310b9327a887b10eb1804fcdd18120c3388347035fed8152f362 +size 15383006 diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/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/blocks_ranking_rgb/ur5-wsg/meta/info.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..33095a9f558f2a0042ca9494187d842e000d5da7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "blocks_ranking_rgb", + "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/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..2667898b6dfa096806e1b89f01446b1b917811e7 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the right arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the right arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the right arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the right arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..ca4c4977ee173ce2d201f498503f59c49a4b805b --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..4155b5c9bf6a942bbb50d97370c63dc9b4bcbb86 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..79aa7c8fe87c6c100f75523840523b0f4498cb66 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..f72d69c0686eb49c6f710901bff5085a8749892c --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..23d7e72e26f833386838bc4dc956f9aefb33b110 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..6d2f9bdb73de4b590bee91323bb5009f83ab11e0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..e6e9094aef70b7fe11811196fe7b1d7c0fdd53a5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the left arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the left arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Use the left arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..7712fa32b80475da8b6aacad1dcb5e8fce6b6044 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..6f273234f1546165775d88768f1566b49876d16e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..f55be4204fe020bae74eb773b088aef48c62f9b0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7c80b2059382361972e06fd06ad4f5d653ceac --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..7f8b34c84c8fb4c66d937559bed68607c30fa87f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..77a24529b9340b7369135159a326cdfae7514af3 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..37366dc1c893d78ab01806cefcd2578d8a3da27f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..d8ecd799cd4f58aa171480762b23e32ec93bb989 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..df6f62253650f8727ae2a776456b740b1c54f8c5 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..4fbac57d16c7a5855b16409915c2bb37916c5022 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..764cae75e579b5190083f3d0e3c6f779b3507658 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..2064bcadcd364c85fa9aadf565f3651e2fe57ed4 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..c6226762468c185b38bba9980c5d01adb1867a16 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..f22d0a6dd9d64225cc30bfff6886a9d28e933f31 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..590af4d4a6aa26a5b788a1d602f7dff96ec376fb --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..eb032efb62d62d5b418af2d5e606f0290d5e5278 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..785b31e360938ca6e652518860c1a646ee4b54ac --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..1e4e34350883d76ad44c390642468f11780de460 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the left arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "With the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the left arm in the order red, green, blue.", + "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the left arm.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the left arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "With the left arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the left arm in the order red, green, blue.", + "Using the left arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block using the left arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..fdda58da9a9775b52aeb5f633092c4a8765b99ae --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2776e94a9d551e50f8af3f05b8bdd2e9aa3e28 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..45cb3e0f57470851756e6699898ae47017177649 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..fa8ef70f7c609f1af06c897c7e351ed5bbc97efa --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right." + ], + "unseen": [ + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..30598ff7f01281469bfbc756d96d23c99c896142 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..8c156e80d184dcc9988df67f217f671870ba2915 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..7c07c734b4658ebc9c5c034ed48306ed9df13132 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb0229158161dbfcce4e420f481d5432c3d0d73 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue." + ], + "unseen": [ + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5dab241580cb2bffe5924d3422c3e9bec3da41 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef2af947f0caa810ee149742552bf9a9931bc6f --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Position red block, green block, and blue block from left to right in the specified sequence." + ], + "unseen": [ + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..54925436b48731c0d8aa15d2331aaed7daa5f528 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..a555964a4cf460554804bbba7890945d147d397e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "red block, then green block, and finally blue block should be placed in a row from left to right." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..c924ef85af24359737d0033b80cd448eb8c714b1 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right." + ], + "unseen": [ + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..00ea1b3da1e27b2e2e9573e29b4a7e9e31b9e995 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..80cb1c81c470c67d5c33aae4aa3da6e47237f375 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row." + ], + "unseen": [ + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..d75aa35c8d668b60d570cb4b968273d555991a87 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm." + ], + "unseen": [ + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..16f6aacbc22ce3eddaf77469f87944fd3eb78b9e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the right arm for blue block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the right arm next to green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the right arm in the order red, green, blue.", + "Using the left arm, the right arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "With the left arm, the right arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the right arm for blue block.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the right arm, keeping the left-to-right order.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block using the left arm, green block with the right arm, and blue block with the right arm, aligning them consecutively in a row.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the right arm, and place them in order left to right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the right arm.", + "With the left arm, the right arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Use the left arm for red block, then the right arm for green block, and the right arm for blue block, arranging them left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the right arm.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the left arm, the right arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..1d64054093f61ffb3a3e2bce7e0c7dc70d65cd81 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block." + ], + "unseen": [ + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..73381f444b0b29ffd8a58ebda973db64e286822e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "With the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the left arm for blue block next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the left arm, and place them in order left to right.", + "Use the right arm for red block, then the left arm for green block, and the left arm for blue block, arranging them left to right.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the left arm for blue block.", + "Using the right arm, the left arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the left arm, keeping the left-to-right order.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "With the right arm, the left arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the left arm.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the left arm.", + "Grab red block using the right arm, green block with the left arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the left arm for blue block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Using the right arm, the left arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the left arm in the order red, green, blue.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the left arm next to green block." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the left arm for blue block in a row.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9392fa9f6ef8238925ee89593bcdfd7ac469e0 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..2dbbad740fa3894de2eac21474389cd724da6aba --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "With the left arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block using the left arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Move red block with the left arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Use the left arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "With the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Use the left arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "First, grab red block, then green block, then blue block with the left arm, the left arm, and the right arm, and place them in order left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the left arm, and the right arm.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Grab red block with the left arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Use the left arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Pick red block using the left arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Using the left arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Arrange red block, green block, and blue block from left to right using the left arm, the left arm, and the right arm in the order red, green, blue.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the left arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Using the left arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Using the left arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Arrange red block, green block, and blue block in a row using the left arm, the left arm, and the right arm, keeping the left-to-right order.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the left arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block." + ], + "unseen": [ + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Use the left arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block from left to right in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..485cc9ebad2d6dce3f56e29d98566c050350a264 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "First, use the left arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Using the left arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Use the left arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "With the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Pick red block using the left arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Using the left arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Pick up red block using the left arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Use the left arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block with the left arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "First, grab red block, then green block, then blue block with the left arm, the right arm, and the left arm, and place them in order left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Use the left arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the left arm, the right arm, and the left arm.", + "Move red block with the left arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Arrange red block, green block, and blue block from left to right using the left arm, the right arm, and the left arm in the order red, green, blue.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Arrange red block, green block, and blue block in a row using the left arm, the right arm, and the left arm, keeping the left-to-right order.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Using the left arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Use the left arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "With the left arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Use the left arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab red block using the left arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Use the left arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..8e9cd8129f079fca515e7fa7b5df9bbd798d3ec2 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Grab red block using the right arm, green block with the right arm, and blue block with the left arm, aligning them consecutively in a row.", + "Pick red block using the right arm, place it far left. Then grab green block with the right arm, position next to red block. Lastly, grab blue block using the left arm and set right of green block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Arrange red block, green block, and blue block from left to right using the right arm, the right arm, and the left arm in the order red, green, blue.", + "Grab red block with the right arm, place it leftmost, then green block using the right arm, followed by blue block with the left arm.", + "Use the right arm to place red block on the left, then use the right arm for green block beside red block, and finally the left arm for blue block next to green block.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "With the right arm, the right arm, and the left arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Arrange red block, green block, and blue block in a row using the right arm, the right arm, and the left arm, keeping the left-to-right order.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "With the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "Move red block with the right arm to the far left, green block with the right arm just beside red block, and finally blue block with the left arm next to green block.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Use the right arm for red block to set it leftmost, continue with the right arm to position green block next to red block, and finish by placing blue block using the left arm to the right of green block.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the right arm and position it next to red block, followed by grabbing blue block with the left arm and placing it next to green block.", + "First, grab red block, then green block, then blue block with the right arm, the right arm, and the left arm, and place them in order left to right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "Using the right arm, the right arm, and the left arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the right arm, and the left arm.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, arrange red block, green block, and blue block from left to right in the given order.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Use the right arm to grab red block and position it on the left, then the right arm for green block, and the left arm for blue block.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Using the right arm, the right arm, and the left arm, align red block, green block, and blue block in a row from left to right.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the right arm for green block, and the left arm for blue block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Use the right arm to grab red block, set it on the left, follow with the right arm for green block, and end with the left arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "Use the right arm for red block, then the right arm for green block, and the left arm for blue block, arranging them left to right.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block." + ], + "unseen": [ + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Use the right arm to arrange red block first, then use the right arm for green block, and finally use the left arm for blue block in a row." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..d29a1d0f8ce419d1447949ac30ea0e6e21e54890 --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right.", + "Grab and place red block first, followed by green block, and finish with blue block in a row.", + "Place red block to the left, green block in the middle, and blue block on the right in a linear fashion.", + "First, place red block on the far left, then green block in the middle, and finish with blue block on the right.", + "Start with red block, followed by green block and blue block, placing them in order left to right.", + "First, grab red block, then green block, then blue block with the right arm, the left arm, and the right arm, and place them in order left to right.", + "Arrange red block at the left edge, green block to the right of it, and blue block next to green block forming a row.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block from left to right in the given order.", + "Pick up red block, green block, and blue block in sequence and position them in a left-to-right row.", + "Using the right arm, the left arm, and the right arm, align red block, green block, and blue block in a row from left to right.", + "Grab red block with the right arm, place it leftmost, then green block using the left arm, followed by blue block with the right arm.", + "Arrange red block, green block, and blue block in a row using the right arm, the left arm, and the right arm, keeping the left-to-right order.", + "Position red block, green block, and blue block in a left-to-right sequence, forming a row.", + "Use the right arm for red block, then the left arm for green block, and the right arm for blue block, arranging them left to right.", + "Line up the objects in the order red block, green block, and blue block, starting from the left.", + "Using the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially from left to right in a single row.", + "Use the right arm to grab red block, set it on the left, follow with the left arm for green block, and end with the right arm for blue block.", + "Begin by placing red block on the left, then add green block to the right, and finish with blue block.", + "With the right arm, the left arm, and the right arm, place red block, green block, and blue block sequentially from left to right as red, green, blue.", + "Grab red block, place it on the leftmost spot, add green block to the middle, and set blue block last.", + "Start by grabbing red block, place it on the leftmost side. Next, position green block beside red block, and finally set blue block to the right of green block.", + "Position red block, green block, and blue block on a surface from left to right in the order red, green, blue.", + "Arrange red block, green block, and blue block from left to right using the right arm, the left arm, and the right arm in the order red, green, blue.", + "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions.", + "Grab red block, green block, and blue block, and place them steadily from left to right in the order red, green, blue.", + "Pick up red block using the right arm, set it on the left, repeat the placement with the left arm for green block, and the right arm for blue block.", + "With the right arm, the left arm, and the right arm, arrange red block, green block, and blue block sequentially in a horizontal row.", + "First, use the right arm to grab red block and place it on the left. Then grab green block with the left arm and position it next to red block, followed by grabbing blue block with the right arm and placing it next to green block.", + "Start with red block on the left, followed by green block next to red block, and end with blue block on the far right.", + "Pick red block using the right arm, place it far left. Then grab green block with the left arm, position next to red block. Lastly, grab blue block using the right arm and set right of green block.", + "Set red block, green block, and blue block side by side in the order of red block, green block, then blue block.", + "Place red block first, set green block beside it, and complete the row by positioning blue block.", + "Use the right arm for red block to set it leftmost, continue with the left arm to position green block next to red block, and finish by placing blue block using the right arm to the right of green block.", + "Move red block with the right arm to the far left, green block with the left arm just beside red block, and finally blue block with the right arm next to green block.", + "Place red block first on the far left, green block next to it, and blue block last on the far right.", + "Use the right arm to place red block on the left, then use the left arm for green block beside red block, and finally the right arm for blue block next to green block.", + "Start with red block on the left, add green block next to it, and then place blue block on the right.", + "Grab red block using the right arm, green block with the left arm, and blue block with the right arm, aligning them consecutively in a row.", + "Position red block first, green block second, and blue block third in a row from left to right.", + "Position red block in the first spot, then set green block to the right of red block, and finish by placing blue block to the right of green block.", + "Put red block first, green block next, and blue block last in a straight line from left to right, using the right arm, the left arm, and the right arm.", + "First, place red block, then green block beside it, and finally blue block next to green block.", + "Position red block, green block, and blue block from left to right in the specified sequence.", + "Using the right arm, the left arm, and the right arm, set red block, green block, and blue block from left to right in the sequence red, green, blue.", + "Position red block first, followed by green block, and end with blue block in a row from left to right.", + "Pick up red block, position it on the left, add green block next to it, and finally set blue block on the far right.", + "Grab red block, position it on the left. Next, grab green block to place beside red block, then grab blue block and set it to the right of green block.", + "Grab red block, set it on the leftmost side, add green block to its right, and complete with blue block on the far right.", + "Use the right arm to grab red block and position it on the left, then the left arm for green block, and the right arm for blue block.", + "red block, then green block, and finally blue block should be placed in a row from left to right." + ], + "unseen": [ + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block.", + "Use the right arm to arrange red block first, then use the left arm for green block, and finally use the right arm for blue block in a row.", + "Set red block, green block, and blue block in a row from left to right in the order red, green, blue.", + "Place red block, green block, and blue block sequentially in a row, starting with red block.", + "Arrange red block, green block, and blue block from left to right in a row.", + "Set red block on the left, then green block in the center, and finally blue block on the right.", + "Start by placing red block to the left, followed by green block next to red block, and end with blue block on the far right.", + "Arrange red block, green block, and blue block side by side, starting with red block on the left.", + "Arrange red block, green block, and blue block in a row with red block on the left, green block in the middle, and blue block on the right.", + "Place red block on the left, then set green block to its right and blue block next to green block.", + "Pick up red block, set it on the left. Then grab green block, position it next to red block. Finally, place blue block to the right of green block." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/scene_info.json b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1e1794975c92bda560092f9ed19d664a80514e --- /dev/null +++ b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/scene_info.json @@ -0,0 +1,752 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_3": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_4": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_5": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_6": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_7": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_8": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_9": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_10": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_11": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_12": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_13": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_14": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_15": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "left" + } + }, + "episode_16": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_17": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_18": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_19": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_20": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_21": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_22": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_23": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_24": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_25": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_26": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_27": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_28": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "right" + } + }, + "episode_29": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_30": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_31": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "left" + } + }, + "episode_32": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_33": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_34": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_35": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_36": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_37": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_38": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_39": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_40": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "right", + "{c}": "left" + } + }, + "episode_41": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_42": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_43": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "left" + } + }, + "episode_44": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_45": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "left", + "{c}": "right" + } + }, + "episode_46": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_47": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "left", + "{b}": "right", + "{c}": "right" + } + }, + "episode_48": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + }, + "episode_49": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "red block", + "{B}": "green block", + "{C}": "blue block", + "{a}": "right", + "{b}": "left", + "{c}": "left" + } + } +} \ No newline at end of file diff --git a/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/seed.txt b/robotwin_multiembodiments/blocks_ranking_rgb/ur5-wsg/meta/seed.txt new file mode 100644 index 0000000000000000000000000000000000000000..92d71eaaf8050a7723d0cec814d86fe4a27da48f --- /dev/null +++ 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